Vessel racking system

ABSTRACT

A vessel racking device comprising a wheeled material handling system that rides on a ground based track system which lies between a staging area and a storage area. The storage area is made up of a plurality of cells positioned above, at or below ground level. Through a set of fixed longitudinal rails, the ground based track system enables the wheeled towerless material handling system to move between the water&#39;s edge and the storage area in a reproducible manner by a moderately skilled operator. The wheeled towerless material handling system is capable of lifting a vessel out of the water and placing it in a cell. The wheeled towerless material handling system is capable of altering its vertical profile to avoid and/or clear overhead obstructions.

FIELD OF THE INVENTION

[0001] This invention relates to a material handling system for handlingarticles such as vessels. More specifically, the invention relates torailed material handling systems which handle and store vessels onshore.

BACKGROUND OF THE INVENTION

[0002] Typically, when a vessel is not in use it will be tied up at adock, berth or mooring buoy. Most marinas, however, do not havesufficient berths or mooring buoys to accommodate all of the vesselsthat are used in and around the marina. Furthermore, maintaining orstoring vessels in berths and/or mooring buoys can be costly. Onesolution is to provide land based storage for vessels that will not beused for extended periods of time. The most common land based storagefor vessels is a trailer. Another storage means is dry stacking thevessels in a storage area.

[0003] Trailers are inexpensive but require a vehicle fitted with atrailer hitch; a ramp of sufficient slope to accommodate both thetrailer and the vessel; and a skilled operator to handle the trailer.One system which alleviates the ramp and some of the skilled operatorproblems is set forth in U.S. Pat. No. 4,976,211 to Reinhardt, for “BoatLaunching System.” However, the Reinhardt system does not address thesignificant amount of real estate required to store a trailer which iseither empty or loaded.

[0004] An alternative is dry stacking which includes a (uncovered orcovered) rack adapted to store a number of vessels in cells or bays. Thecells are aligned along a wall, and are set up in shelves. In this way,a number of vessels are stored on each shelve, with a number of shelvesrising vertically, with one vessel stored above another, much like booksin a book shelve. Such systems eliminate the need for the trailer, thevehicle, the ramp and the need for a significant amount of real estate.A typical dry stack system may utilize a free ranging lift truck asdisclosed in U.S. Pat. No. 6,027,303 to Voegeli for “Non-CounterweightedLift Truck and Method of Operation.” Other dry stack systems utilize anoverhead crane of varying degrees of complexity as described in U.S.Pat. No. 3,189,198 to Filak, for “Small Boat Dry Storage Facility;” U.S.Pat. No. 3,786,942 to Dane for “Dry Sail Marina;” U.S. Pat. No.4,190,013 to Otis et. al. for “Floating Dry Storage Facility for SmallBoats;” and U.S. Pat. No. 6,007,288 to Maffet for “Watercraft StorageSystem.” Such overhead systems usually require the storage rack(s) to bepositioned next to a navigable channel cut into the dry stack area orthe overhead rails to extend over the water.

[0005] The need for a navigable channel in most overhead systemstypically requires an initial carving out of the channel and continueddredging to maintain navigability, both costly drawbacks to the overheadcrane style system. Common to all racking systems with overhead cranesis the inaccessibility of the overhead crane and its related systems.Furthermore, overhead cranes tend to be electrically powered to reduceweight aloft, but suffer from corrosion and the effects of the harshmarine environment. Finally, a major drawback with overhead crane stylesystems, like the systems describe in the patents of Otis, Filak, Dane,and Maffet is the need for an unobstructed vertical height from theoverhead rail to the water's edge along the rail path of the cranetower.

[0006] An alternative to the overhead crane system is a ground basedtower system as described in U.S. Pat. No. 4,797,055 to Tworoger et al.for “Load Moving Apparatus;” and U.S. Pat. No. 4,953,488 to Heidtmannfor “Boat Carrousel.” In a ground based tower system, a tower supports aset of vertically positioned rails about which a fork or lift cartravels. A major drawback to tower based systems is the fixed verticalheight of the tower. Like the overhead crane system, the tower basedsystem is difficult to repair and maintain at the upper region. When thetower is mobile, there must be a vertical clearance of any obstructionsgreater than or equal to the height of the tower in all areas where thetower operates very similar to the vertical clearance required foroverhead crane systems. Where vertical obstructions exist, like overheadpower lines, costly relocation of the obstruction or the dry stackingsystem is required. Furthermore, the openings and associated doors ofthe storage areas must be of sufficient height to accommodate ingressand egress of the tower. Such large openings and doors can be difficultto install and maintain. Where the storage area is climate controlled,such large openings, when opened, upset the regulated environment of thestorage area. Such a problem is typically compensated for by increasingthe capacity of the climate control system or installing flexiblecurtains. Finally, construction and erection of the tower can becomplicated, costly and require custom designed and fabricated systems.

[0007] In view of the above described deficiencies associated with drystorage devices and methods utilizing either a trailer or tower tohandle a vessel, the present invention has been developed to alleviatethese drawbacks and provide further benefits to the user. Theseenhancements and benefits are described in greater detail herein belowwith respect to several alternative embodiments of the presentinvention.

SUMMARY OF THE INVENTION

[0008] The device includes a wheeled towerless material handling systemthat rides on a ground based track system which lies between a stagingarea and a storage area. The storage area is made up of a plurality ofcells positioned above, at or below ground level. Through a set of fixedlongitudinal rails, the ground based track system enables the wheeledtowerless material handling system to move between the water's edge anda storage area in a reproducible manner by a moderately skilledoperator. The wheeled towerless material handling system is capable oflifting a vessel out of the water and placing it in a cell. The wheeledtowerless material handling system is capable of altering its verticalprofile to avoid and/or clear overhead obstructions.

[0009] The ground based track system includes longitudinal rails whichare positioned on the ground, rather than positioned overhead. In apreferred embodiment, a set of transverse rails are moveably fixed tothe fixed longitudinal rails. When present, the transverse rails arepreferably propelled about the longitudinal rails on a set of railbogies. The towerless material handling system includes a wheeledcarriage configured to move about the ground based track system. In apreferred embodiment, the wheeled carriage is mounted on the transverserails of the preferred embodiment of the ground based track system.

[0010] The towerless material handling system further includes atelescoping lift system capable of lifting a vessel out of the water andplacing it in a designated cell for storage. In one embodiment, thetelescoping lift system includes at least one tine or fork configured tosupport and handle a vessel. In a preferred embodiment, the towerlessmaterial handling system includes a turntable or rotex configured torotate the towerless material handling system about a substantiallyvertical axis. In one embodiment, the towerless material handling systemincludes a body mounted on the turntable which in turn is mounted on acarriage to allow rotation of the body above the carriage. The carriagebogies are fixed to the carriage to allow transverse movement. In theabove described configuration, the device has four degrees of freedom tohandle the vessel.

[0011] In another embodiment, the telescoping lift system is capable oftilting off a substantially vertical axis, thereby giving the deviceanother degree of freedom and enhanced vessel handling capabilities. Inan alternative embodiment, the tines or forks are configured to rotateabout a substantially horizontal axis, thereby giving the device anotherdegree of freedom and enhanced vessel handling capabilities. In yetanother embodiment, the tines or forks are configured to move laterally,thereby giving the device another degree of freedom and enhanced vesselhandling capabilities. In the most preferred embodiment, each of thefeatures described above are part of the device, thereby resulting inseven degrees of freedom to handle the vessel. In sum, for eachoperative attachment between two components, at least one degree offreedom is achieved.

[0012] As can be appreciated, power and control to move the devicethrough the various degrees of freedom can be hydraulic, electric,mechanical and/or a combination thereof. In the most preferredembodiment, hydraulic power moves the device through any one or all ofthe device's degrees of freedom at the same time. In one embodiment, thecontrols are located in a operators cab within the towerless materialhandling system. In an alternate embodiment, the device is controlledremotely. To assist the operator and promote repeatability of movements,the device further includes a series of positional indicators whichcoincide with each degree of freedom of the device.

[0013] In the most preferred embodiment, the device is a modifiedhydraulic excavator 61 which rides the ground based track system. Theexcavator is modified by replacing the track and bogie system with a setof carriage bogies to allow the device to roll on or in the transverserails. As can be appreciated, the excavator's power system as originallyconfigured provides power to move the device about the transverse and/orrotational degrees of freedom.

[0014] The excavator is further modified by removing the boom, stick,and bucket and replacing it with a telescoping lift system configuredmuch like a standard negative reach forklift. This allows thetelescoping lift to be lowered below the ground based rail system tohandle a vessel position at the berth. The excavator's power system ismodified to move the device about at least the longitudinal and liftingdegrees of freedom. As can be appreciated by one skilled in the art, themodification and use of an excavator mounted on the ground based tracksystem is easier to construct and install than a towered device.

[0015] In another embodiment, the device includes a modified telehandlerwhich rides the ground based track system. The modifications to thetelehandler are similar to the excavator modifications described above.Telehandlers which do not possess a rotex or a rotational degree offreedom about an axis substantially perpendicular to the ground may befurther modified by fitting at least one rotex or turntable between thebody and the carriage which rides the ground based track system. Byincorporating a telehandler, the transverse rails can be eliminated.

[0016] This invention allows easy, repeatable alignment with the cellsand or vessel to be handled when compared to conventional free rangingmarina forklifts. All movements of the present invention are inassociation with fixed rails and, if installed, a reference systemthereby reducing or eliminating any guess work in handling vessels.

[0017] One special concern is to ensure that there is sufficientcounterforce so that the vessel or load on the telescoping lift systemdoes not tip over or otherwise destabilize the towerless materialhandling system. In one embodiment, the counterforce is achieved bymeans of a counterweight, as is typical on standard forklifts and earthmoving machines, like excavators. Generally the counterweight mayinclude the power system of the machine, as is the case in oneembodiment of this invention. In another embodiment, the counterforce isachieved by configuring the turntable or rotex to prevent decoupling. Inanother embodiment, the counterforce is achieved by means of a rolloverpreventer slideably coupling the towerless material handling system toan underside surface of at least one rail in the ground based tracksystem. In another embodiment, the counterforce is achieved by usingrails which have a substantially “C” cross section adapted to receiveand allow bogies (carriage or rail) to freely rotate and move within therails. In another embodiment, the counterforce is achieved by using atleast one counterforce bogie attached to the towerless material handlingsystem and positioned to ride on an unobstructed underside surface of atleast one rail in the ground based track system. In a preferredembodiment, the counterforce bogie may be positioned on or near theunderside of the transverse rail in opposition to a carriage bogie orpositioned on or near the underside of the transverse rail adjacent to acarriage bogie. The use of a counterforce bogie is similar to thetypical bogie configuration on a roller coaster, and is well known inthe art.

BRIEF DESCRIPTION OF THE DRAWINGS

[0018]FIG. 1 is a layout view of a vessel racking system including amodified excavator.

[0019]FIG. 2 is a layout view of a vessel racking system including amodified telehandler.

[0020]FIG. 3 is an elevation view of a towerless material handlingsystem mounted on a ground based track system.

[0021]FIG. 3a is a detailed view of a longitudinal rail within a trackpit.

[0022]FIG. 3b is a detail view of a rail bogie.

[0023]FIG. 4 is a plan view of a vessel racking system including amodified excavator.

[0024]FIG. 4a is a is a detail elevation of a counterforce bogie.

[0025]FIG. 4b is a cross section view of a counterforce bogie.

[0026]FIG. 5 is a perspective view of a control device.

[0027]FIG. 6 is a layout view of the prior art.

DETAILED DESCRIPTION OF THE INVENTION

[0028] Detailed embodiments of the present invention are disclosedherein. It is to be understood, however, that the disclosed embodimentsare merely exemplary of the invention that may be embodied in variousand alternative forms. The figures are not necessarily to scale wheresome features may be exaggerated or minimized to show details ofparticular components. Therefore, specified structural and functionaldetails disclosed herein are not to be interpreted as limiting, butmerely as a basis for the claims and as a representative basis forteaching one skilled in the art to variously employ the presentinvention.

[0029]FIGS. 1 and 2 show the general configuration of a vessel rackingdevice 100. The racking device 100 takes a vessel from a staging area10, picks it up, and moves it into the storage area 20 for long termstorage. The staging area 10 will typically consist of either or both avessel berth 12 for positioning a vessel in the water for pick up or adriveway 14 for positioning a vessel on a standard trailer for pick up.The staging area 10 is located near one end of a ground based tracksystem 30. The ground based track system 30 runs from the staging area10 into the storage area 20. The storage area 20 includes a latticestructure 22 consisting of individual cells or bays 24 sized to holdvessels. The racking device 100 includes a ground based track system 30,and a towerless material handling system 60.

[0030] In one embodiment, as depicted in FIGS. 3 and 4, the ground basedtrack system 30 is made up of longitudinal rails 32, and transverserails 34. The longitudinal rails 32 are attached to the ground atperiodic intervals from the staging area 10, to the storage area 20. Thelongitudinal rails 32 are substantially parallel to each other. Thetransverse rails 34 ride on or in the longitudinal rails 32 on a set ofwheels or rail bogies 40. To ride in the longitudinal rails 32, the railbogies 40 ride in a channel formed into the longitudinal rails 32. Toride on the longitudinal rails 32, the rail bogies 40 are configured toengage at least a portion of an upwardly facing surface of thelongitudinal rails 32. The transverse rails 34 riding in or on thelongitudinal rails 32 is an operative attachment which results in adegree of freedom in a horizontal plane.

[0031] The towerless material handling system 60 in turn rides thetransverse rails 34 on a carriage 90 that has a set of carriage bogies92 that roll on or in the transverse rails 34. To ride in the transverserails 34, the carriage bogies 92 are positioned in a channel formed intothe transverse rails 34. To ride in the transverse rails 34, thecarriage bogies 92 are configured to engage at least a portion of anupwardly facing surface of the transverse rails 34. The carriage 90riding in or on the transverse rails 34 is an operative attachment whichresults in a degree of freedom in a horizontal plane. Whether alongitudinal rail 32 or transverse rail 34, each is fitted with a stop44 to limit movement about the ground based track system 30 (See FIGS. 3and 4).

[0032] In a preferred embodiment, the material handling system 60 is ahydraulic excavator modified to ride the ground based track system 30and handle vessels to and from the staging area 10. The modifiedhydraulic excavator includes a telescoping lift system 62. Thetelescoping lift system is configured to move up or down at least onetine or fork 63 much like a negative reach forklift. The movement of atleast one tine or fork 63 by the telescoping lift system 62 is anoperative attachment which results in a degree of freedom in a verticalplane.

[0033] The tines or forks 63 are adapted to support the vessel (fromabove or below). In one embodiment, the telescoping lift system 62 canextend the tines or forks 63 below the surface of the water or to asufficient height above the ground to make contact with and support theunderside of the vessel depending on its location in the water, on atrailer or in a storage cell 24. In another embodiment, the vessel issupported by at least one tine or fork 63 positioned at a sufficientheight above the vessel. In such an arrangement, support of the vesselis carried out by support structures (not shown) which extend beneathand make contact with the bottom of the vessel or attach to the vesselat or above its waterline.

[0034] In another embodiment, the towerless material handling systemfurther includes a telescoping boom 64 fixed to a body 70 and thetelescoping lift system 62 as shown in FIG. 2. Extension and retractionof the telescoping boom 64 allows the vessel to be moved away from orcloser to the body 70. As can be appreciated, this type of movement iscritical to the positioning of a vessel in or out of a cell or bay 24. Atelescoping boom 64 of proper length could eliminate the need for thetransverse rails 34. In another embodiment, the telescoping boom 64 ispivotably fixed to the body 70 and pivotably fixed to the telescopinglift system 62 to allow enhanced articulation of the tine(s) 63. Foreach pivotable fixation between the telescoping lift system 62,telescoping boom 64 and body 70, a operative attachment is establishedand provides another degree of freedom in which to handle the vessel.

[0035] Furthermore, a pivotably fixed telescoping boom 64 and pivotablyfixed telescoping lift system 62 would allow the extension range of thetelescoping lift system 62 to be reduced. It is further contemplatedthat fixation of the telescoping boom 64 can occur at the periphery,middle or central region of the body 70. FIG. 2 depicts a pivotablefixation of the of the telescoping boom 64 at the periphery of the body70. In yet another embodiment, the towerless material handling system 60is a modified telehandler adapted to engage said ground based tracksystem 30.

[0036] Focusing on the tines 63, in one embodiment, at least one tine 63is rotatably attached to the telescoping lift system 62 to allowrotation about at least one axis substantially parallel to the ground.Rotatable attachment of at least one tine 63 to the telescoping liftsystem 62 creates an operative attachment and yet another degree offreedom. Allowing at least one tine 63 to rotate in such a mannerenhances the ability to launch, retrieve and/or handle the vessel.

[0037] A turntable or rotex 80 positioned between the body 70 and thecarriage 90 allows the towerless material handling system 60 to fullyrotate about an axis perpendicular to the ground. Such an operativeattachment provides a degree of freedom in which to handle the vessel.This degree of freedom, in combination with the degrees of freedomassociated with the ground based track system 30, and the towerlessmaterial handling system 60 allows the tine(s) 63, and hence the vesselsupported by the tine(s) 63, to be articulated into a wider range ofpositions for handling the vessel.

[0038] As can be appreciated, the typical excavator includes a rotex orturntable 80; and therefore would not require extensive modifications torotate the towerless material handling system 60. In contrast, someexisting telehandlers do not include a rotex or turntable 80 and wouldrequire modification to allow rotation of the telescoping boom 64.

[0039] Operation of the towerless material handling system 60 can occurfrom a cab 72 located on the body 70 (FIGS. 3 and 4) or from a positionremote from the body 70 (not shown). The operator cab 72 is configuredwith the necessary controls 101 (FIG. 5) to fully operate the towerlessmaterial handling system 60. The controls 101 are similar to standardheavy load moving machinery such as forklifts, excavators andtelehandlers, and are well known in the art.

[0040] In one embodiment, the material handling system 60 includes acounterweight 74. The purpose of the counterweight 74 is to provide acounterforce mechanism to offset the weight of the load on the tines 63to prevent the towerless material handling system 60 from tipping over.As can be appreciated from the simple physics of the configuration ofthe system, the weight of the vessel or other load on the tines 63 ofthe towerless material handling system 60 will produce a large force onthe front end of the material handling system 60. Without some measuresto counteract these forces it is possible for the material handlingsystem 60 to become unstable or even tip over. The counterweight 74 is acommon means of preventing such a condition on similar heavy load movingmachinery such as a forklift of front end loading dozer. In at least oneembodiment of the present invention, the counterweight 74 will consistof the power system 100 of the towerless material handling system 60.

[0041] In an alternate embodiment, the means of providing a counterforceis produced by a counterforce bogie 94, as depicted in FIGS. 4a and 4 b.The counterforce bogie 94 engages a lower surface or region of at leastone rail of the ground based track system 30. In a preferred embodiment,the counterforce bogie 94 engages a lower surface or region of at leastone transverse rail 34. When a load is on the tines 63 of the towerlessmaterial handling system 60, the counterforce bogie 94 holds thetowerless material handling system 60 in place by preventing the side oftowerless material handling system 60 opposite the load on the tines 63from rotating up and away from the transverse rails 34. This system issimilar to typical bogie arrangements that are standard on rollercoasters, and are well known in the art. As an added or independentsafety feature, the device 100 includes a rollover preventer 76 (FIG. 3and 4), which is substantially a post and hook that extends verticallydown below the carriage 90 and engages a lower surface of the transverserails 34. If the towerless material handling system 60 does begin to tipor become unstable the hook portion of the rollover preventer 76 willgrab or engage the transverse rail 34, thus preventing a rollover.

[0042] In another embodiment, the counterforce require to prevent arollover is achieved by configuring the turntable or rotex 80 to preventdecoupling of the body 70 from the carriage 90. In another embodiment,the counterforce is achieved by using rails 32, 34 which have asubstantially “C” cross section adapted to receive and allow bogies 40,92, 94 to freely rotate and move within the rails 32, 34.

[0043] As can be appreciated, inclusion of a modified excavator ortelehandler requires further modifications to adapt it to ride theground based track system 30. In a preferred embodiment, the existingcarriage wheels of a wheeled excavator or telehandler are modified orreplaced with carriage bogies 92 (FIG. 3 and 4) to ride in or on thetransverse rails 34. If the wheeled excavator includes a telescopic boom64, the existing carriage wheels could be modified or replaced withcarriage bogies 92 to ride in or on the longitudinal rails 32. Where theexisting excavator (or telehandler) has crawler tracks, themodifications would be more extensive and require replacing the crawlertracks and bogies with carriage bogies 92.

[0044] In operation, a preferred embodiment of the towerless materialhandling system 60 moves longitudinally along the longitudinal rails 32by rolling on the rail bogies 40 that are connected to the transverserails 34. This will allow the towerless material handling system 60 tomove longitudinally from the staging area 10 into the storage area 20after picking up the vessel or other load. The towerless materialhandling system 60 will then roll into the proper position to place thevessel into a corresponding predetermined cell 24. The telescoping liftsystem 62 will then raise the vessel into the proper vertical position,and rotate on the rotex 80 to align the vessel with the appropriatecorresponding cell 24. The towerless material handling system 60 willthen move transversely on the transverse rails 34, by rolling on thecarriage bogies 92, to put the vessel into the corresponding cell 24.

[0045] In one embodiment, shown in FIG. 3a, the longitudinal rails 32are recessed in a track pit 33. Use of a track pit 33 allows placementof the longitudinal rails 32 even with, or slightly below the surface ofthe ground or floor of the storage area 20, thus eliminating thetripping hazzard of raised rails.

[0046] In one embodiment, depicted in FIG. 3b, the rail bogies 40 (andthe carriage bogies 92) include a bogie tire 42. The bogie tire 42reduces the noise of the bogies on the rails, and also provides minimalshock absorption.

[0047] Movement of the towerless material handling system 60 along thetrack system 30 can be achieved in a number of different ways. In thepreferred embodiment, power is provided by means of a drive axle 50(FIG. 3 and 4). Rotation is provided to the drive axle 50 by any numberof conventional means including by means of a standard power system 100.In one embodiment, the power system 100 of the towerless materialhandling system 60 provides rotation by means of standard gearing. Inthe most preferred embodiment, a hydraulic system turns the drive axle50. Movement by means of hydraulics is well known in the art.

[0048] In the preferred embodiment, hydraulics provide the motive means.A hydraulic longitudinal drive 102 provides rotational forces to movethe towerless material handling system 60 along the longitudinal rails32, and a hydraulic transverse drive 106 provides the rotational forcesto move the towerless material handling system 60 along the transverserails 34. When engaged, the drive axle 50 will move the towerlessmaterial handling system 60 along the longitudinal rails 32. The driveaxle 50 can also transfer rotational forces by means of the clutch 104,thus allowing movement of the towerless material handling system 60along the transverse rails 34.

[0049] In at least one embodiment the invention also includes analignment system to allow the operator to determine the position of thetowerless material handling system 60 in relation to the cells 24 withinthe storage area 20. The alignment system is depicted in FIG. 4, andincludes a longitudinal position indicator 160 and a series oflongitudinal reference points 165. In one embodiment, the operatordetermines the longitudinal position of the towerless material handlingsystem 60 by visually noting the position of the longitudinal positionindicator 160 in relation to the longitudinal reference points 165.

[0050] The alignment system also includes a transverse positionindicator 170 and corresponding transverse reference points 175.Operation of the transverse position indicator 170 and correspondingtransverse reference points 175 is identical to the operation of thelongitudinal position indicator 160 and longitudinal reference points165.

[0051] As depicted in FIG. 3, the alignment system also includes anelevation indicator 150 and corresponding elevation reference points 155located on the telescoping lift system 62. The operator is able tovisually determine the elevation of the tines 63 by noting the locationof the elevation indicator 150 in relation to the correspondingelevation reference point 155. In at least one embodiment the elevationindicator 150 and corresponding elevation reference points 155 areelectronically coupled to provide elevation reference informationelectronically.

[0052] The alignment system also includes a transverse angle indicator180 located on the underside of the body 70, and a correspondingtransverse reference arc 185 located on the rotex 80. Because of thelocation of the transverse angle indicator 180 and correspondingtransverse reference arc 185, which is below the body 70 of the materialhandling system 60, and thus out of view of the operator, the transverseangle indicator 180 and transverse reference arc 185 are electronicallycoupled, and provide the operator with transverse angle informationthrough an electronic display.

[0053] The alignment system also includes a vertical angle indicator 190and corresponding vertical reference arc 195 located on the telescopinglift system 62, to provide the operator with information regarding thevertical angle of the material handling system 60.

[0054] In another embodiment, the alignment system incorporateelectronically interconnected reference analyzers (not shown) whichelectronically determine, and describe, the attitude and position of thevessel and towerless material handling system 60 in relation to orwithin the staging area 10 and storage area 20. The alignment system isconfigured to achieve a high degree of repeatability of the positionsand altitude of the vessel and racking device 100 to properly handle,stow, and/or launch the vessel.

[0055] The towerless material handling system 60 is operated by means ofa control device 101, as shown in FIG. 5. In one embodiment, the controldevice 101 is located in the operator cab 72 of the material handlingsystem 60. In an alternate embodiment, the control device 101 is locatedremotely from the material handling system 60, either on a moveablehandheld controlling mechanism, or from at least one fixed locationadjacent to the staging area 10 and/or storage area 20. The controldevice 101 includes a rail control 110 for controlling the position ofthe material handling system 60 on the rails. The rail control 110 isdesigned for operation much like the joy stick on a computer or videogame, and such controls are well known in the art. Movement of the railcontrol 110 left or right as the operator faces the control device 101,will move the material handling system 60 left or right on thelongitudinal rails 32. Movement of the rail control 110 forward orbackward will move the material handling system 60 forward or backwardon the transverse rails 34.

[0056] The control device 101 also includes a material handling control120, which is designed similarly to the rail control 110. Movement ofthe material handling control 120 forward will lower the tines 63 of thetelescoping lift system 62. Movement of the material handling control120 backwards will raise the tines 63. Movement of the material handlingcontrol 120 left or right will rotate the towerless material handlingsystem 60. As described, the two control levers of the control device101 allow complete control of the device 100 with two hands.

[0057] With respect to the above description, it is to be realized thatthe optimum dimensional relationships for the parts of the invention, toinclude variations in size, materials, shape, form, function and mannerof operations, assembly and use, are deemed readily apparent and obviousto one skilled in the art, and all equivalent relationships to thoseillustrated in the drawings, and described in the specification, areintended to be encompassed by the present invention.

[0058] Therefore, the foregoing is considered as illustrative only ofthe principles of the invention. Further, since numerous modificationsand changes will readily occur to those skilled in the art, it is notdesired to limit the invention to the exact construction and operationshown and described. Accordingly, all suitable modifications andequivalents are considered to fall within the scope of the invention.

I claim:
 1. A vessel racking device, comprising: a staging areaconfigured to temporarily position a vessel for transfer by said vesselracking device; a storage area comprising a lattice structure having aplurality of cells, each of said cells adapted to receive and hold saidvessel; a ground based track system fixed to the ground and positionedadjacent to and spanning the distance between said staging area and saidstorage area; a wheeled towerless material handling system riding on aportion of said ground based track system, said wheeled towerlessmaterial handling system configured to selectively alter the verticalprofile of said wheeled towerless material handling system andselectively move said vessel between said staging area and said storage;and a power system of sufficient power operatively connected todistribute sufficient power to said wheeled towerless material handlingsystem to enable handling, loading and discharging said vessel from saidstorage area and said staging area.
 2. The vessel racking device asclaimed in claim 1, wherein said wheeled towerless material handlingsystem further comprises: an existing excavator configured with bogiesto ride on said portion of said ground based track system; a telescopinglift system operatively mounted to said existing excavator; saidtelescoping lift system configured to handle said vessel and selectivelyalter said vertical profile; and a counterforce member located on saidexisting excavator to enhance stability of said wheeled towerlessmaterial handling system.
 3. The vessel racking device as claimed inclaim 1, wherein said wheeled towerless material handling system furthercomprises: an existing telehandler comprising a telescopic boom, saidexisting telehandler configured with bogies to ride on said portion ofsaid ground based track system; and a telescoping lift systemoperatively mounted to a distal end of said telescopic boom; saidtelescoping lift system configured to handle said vessel and selectivelyalter said vertical profile; and a counterforce member located on saidexisting telehandler to enhance stability of said wheeled towerlessmaterial handling system.
 4. A vessel racking device as claimed in claim1 further comprising an alignment system configured to facilitatehandling of said vessel.
 5. A vessel racking device, comprising: astaging area configured to temporarily position a vessel for transfer bysaid vessel racking device; a storage area having a plurality of cellsconfigured to receive and hold said vessel; a ground based track systemcomprising at least two longitudinal rails fixed to the ground andsubstantially parallel to each other, said ground based track systempositioned adjacent to and spanning the distance between said stagingarea and said storage area; a towerless material handling system havinga carriage, body, telescoping lift system, and a counterforce member,wherein said telescoping lift is operatively attached to said body toallow pickup, handling and discharge of said vessel, said body isrotatably fixed to said carriage to allow rotation of said body about asubstantially vertical axis, said carriage is engaged to said groundbased track system by a set of carriage bogies to allow movement of saidtowerless material handling system about said ground based track system,and said counterforce member configured and positioned on said towerlessmaterial handling system to enhance stability of said towerless materialhandling system especially during handling of said vessel; and a powersystem of sufficient power operatively connected to distributesufficient power to said towerless telescoping material handling systemto enable handling said vessel at and between said staging area and saidstorage area.
 6. The racking device as claimed in claim 5, wherein saidground based track system further comprises a transverse rail system anda set of rail bogies, said transverse rail system comprises at least twotransverse rails configured to engage said carriage bogies, each of saidtransverse rails engages at least a portion of said longitudinal railsby said set of rail bogies, and said transverse rail system is driven bysaid power system to allow selectively positioning said transverse railsystem about said longitudinal rails.
 7. The racking device as claimedin claim 5, wherein said towerless telescoping material handling systemfurther comprises a telescopic boom operatively fixed at a first end tosaid body and operatively fixed at a second end to said telescoping liftsystem, said telescopic boom configured to selectively articulate saidtelescopic lift system into a variety of positions conducive to loading,handling and discharging said vessel.
 8. The racking device as claimedin claim 6, wherein said towerless telescoping material handling systemfurther comprises a telescopic boom operatively fixed at a first end tosaid body and operatively fixed at a second end to said telescoping liftsystem, said telescopic boom configured to selectively articulate saidtelescopic lift system into a variety of positions conducive to loading,handling and discharging said vessel.
 9. The racking device as claimedin claim 5, wherein said counterforce member is a mass of sufficientweight located on said body opposite from said telescoping lift system.10. The racking device as claimed in claim 6, wherein said counterforcemember engages, at least during handling of said vessel, an unobstructedunder region of at least one rail of said ground based track system. 11.The racking device as claimed in claim 10, wherein said counterforcemember comprises at least one counterforce bogie in contact with saidunobstructed under region.
 12. The racking device as claimed in claim10, wherein said counterforce member comprises a “J” shaped post fixedto said carriage, said “J” shaped post extends vertically down from andbelow said carriage and at least engages said unobstructed lower regionwhen said towerless material handling system begins to become unstablethus significantly reducing the chance of rollover.
 13. The rackingdevice as claimed in claim 5, wherein said power system is positioned ata power generation area located adjacent to said ground based tracksystem.
 14. The racking device as claimed in claim 9, wherein said masscomprises said power system.
 15. The racking device as claimed in claim14, wherein said towerless material handling system further comprises aset of operator controls located on said towerless material handlingsystem near said telescopic lift to allow an operator to handle saidvessel from a position on said towerless material handling system. 16.The racking device as claimed in claim 14, wherein said vessel rackingdevice further comprises a set of operator controls remotely locatedfrom said towerless material handling system to allow an operator toremotely handle said vessel with said racking device.
 17. The rackingdevice as claimed in claim 5, wherein at least one tine is operativelyattached to said telescoping lift, said at least one tine is configuredto support said vessel.
 18. The racking device as claimed in claim 5,wherein said longitudinal rails are recessed into said ground tosignificantly reduce the profile of said ground based track system. 19.A vessel racking device, comprising: a staging area configured totemporarily position a vessel for transfer by said vessel rackingdevice; a storage area having a plurality of cells configured to receiveand hold said vessel; a ground based track system comprising at leasttwo longitudinal rails fixed to the ground and substantially parallel toeach other, and at least two transverse rails engaged by a set of railbogies to at least a portion of said longitudinal rails to allowselective positioning of said at least two transverse rails about saidground based track system; a telescopic lift system operatively fixed toan existing hydraulic excavator to allow pickup, handling and dischargeof said vessel, said existing hydraulic excavator is fitted with a setof carriage bogies and a counterforce member to engage at least aportion of said at least two transverse rails, and said existinghydraulic excavator configured to operatively provide power to said setof rail bogies.
 20. A vessel racking device, comprising: a staging areaconfigured to temporarily position a vessel for transfer by said vesselracking device; a storage area having a plurality of cells configured toreceive and hold said vessel; a ground based track system comprising atleast two longitudinal rails fixed to the ground and substantiallyparallel to each other; a telescopic lift system operatively fixed to atelescoping boom of an existing telehandler to allow pickup, handlingand discharge of said vessel, said existing telehandler is fitted withcarriage bogies and a counterforce member to engage at least a portionof said ground based track system to allow selective positioning of saidexisting telehandler about said ground based track system and securehandling of said vessel.
 21. A method of handling a vessel with a vesselracking device comprising the steps of: providing and distributingsufficient power to said vessel racking device to handle said vessel;positioning a tracked material handling system in a position to receivea vessel; receiving said vessel by said tracked material handlingsystem; supporting said vessel by at least one tine operativelyconnected to said tracked material handling system; reducing thevertical profile of said tracked material handling system to avoidobstacles, if present, and increase said tracked material handlingsystem's stability during support of said vessel; moving said trackedmaterial handling system to a pre-selected discharge position adjacentto a pre-selected discharge location configured to receive said vessel;and discharging said vessel to said pre-selected discharge location. 22.The method of handling a vessel as claimed in claim 21, furthercomprising the step of using an alignment system to accurately and in areproduceable manner receive, support, move, handle and discharge saidvessel.
 23. The method of handling a vessel as claimed in claim 21,further comprising the step of operating said tracked material handlingsystem from a fixed location on said tracked material handling system.24. The method of handling a vessel as claimed in claim 21, furthercomprising the step of operating said vessel racking system from atleast one fixed position located adjacent to said vessel racking device.25. The method of handling a vessel as claimed in claim 21, furthercomprising the step of operating said tracked material handling systemby a movable remote control device.
 26. The method of handling a vesselas claimed in claim 21, further comprising the step of providing anddistributing said power from at least one power source located on saidtracked material handling system.
 27. The method of handling a vessel asclaimed in claim 21, further comprising the step of providing anddistributing said power from at least one power source located adjacentto said vessel racking device.
 28. The method of handling a vessel asclaimed in claim 26, wherein said at least one power source ishydraulic.
 29. The method of handling a vessel as claimed in claim 21,wherein said discharge location is water of sufficient depth to receivesaid vessel.
 30. The method of handling a vessel as claimed in claim 21,wherein said discharge location is a storage cell.